This work concerns the synthesis of discrete-time feedforward/feedback
control systems for general nonlinear processes with stable zero dyna
mics. Depending on the process under consideration, the derived feedfo
rward/feedback controllers can completely eliminate the effect of meas
urable disturbances and produce a prespecified linear response with re
spect to a reference input, or provide integral-square error optimal r
esponse to step changes in the disturbances and a prespecified linear
response with respect to a reference input. In either case, the develo
ped feedforward/feedback controllers allow for the asymptotic rejectio
n of unmeasurable disturbances. These controllers are derived within t
he globally linearizing control framework, first underfull state infor
mation and then in the absence of state measurements. The internal sta
bility of the closed-loop system is addressed. The derived controllers
are interpreted from a model-predictive point of view, and their conn
ections with the feedforward internal model control and the model algo
rithmic control are established. The theoretical results are illustrat
ed through a continuous stirred-tank reactor example.